robot-3dlotus

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy is a research project focusing on addressing the challenge of generalizing language-conditioned robotic policies to new tasks. The project introduces GemBench, a benchmark to evaluate the generalization capabilities of vision-language robotic manipulation policies. It also presents the 3D-LOTUS approach, which leverages rich 3D information for action prediction conditioned on language. Additionally, the project introduces 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs to achieve state-of-the-art performance on novel tasks in robotic manipulation.

Habitat-Sim is a high-performance physics-enabled 3D simulator with support for 3D scans of indoor/outdoor spaces, CAD models of spaces and piecewise-rigid objects, configurable sensors, robots described via URDF, and rigid-body mechanics. It prioritizes simulation speed over the breadth of simulation capabilities, achieving several thousand frames per second (FPS) running single-threaded and over 10,000 FPS multi-process on a single GPU when rendering a scene from the Matterport3D dataset. Habitat-Sim simulates a Fetch robot interacting in ReplicaCAD scenes at over 8,000 steps per second (SPS), where each ‘step’ involves rendering 1 RGBD observation (128×128 pixels) and rigid-body dynamics for 1/30sec.

The `xaitk-saliency` package is an open source Explainable AI (XAI) framework for visual saliency algorithm interfaces and implementations, designed for analytics and autonomy applications. It provides saliency algorithms for various image understanding tasks such as image classification, image similarity, object detection, and reinforcement learning. The toolkit targets data scientists and developers who aim to incorporate visual saliency explanations into their workflow or product, offering both direct accessibility for experimentation and modular integration into systems and applications through Strategy and Adapter patterns. The package includes documentation, examples, and a demonstration tool for visual saliency generation in a user-interface.

Headwind Simulations A339X - A330-900neo is an open-source project aimed at creating a free Airbus A330-900neo for Microsoft Flight Simulator. The project is based on the FlyByWire System A32NX and offers a detailed simulation of the A330-941 model with various components like engines, FMS, ACAS, ATC, and more. Users can build the aircraft using Docker and node modules, and the package can be easily integrated into MSFS. The project is part of a collaborative effort with other open-source projects contributing to the aircraft's systems, cockpit, sound, and 3D parts. The repository is dual-licensed under GNU GPLv3 for textual-form source code and CC BY-NC 4.0 for artistic assets, ensuring proper usage and attribution of the content.

PowerInfer is a high-speed Large Language Model (LLM) inference engine designed for local deployment on consumer-grade hardware, leveraging activation locality to optimize efficiency. It features a locality-centric design, hybrid CPU/GPU utilization, easy integration with popular ReLU-sparse models, and support for various platforms. PowerInfer achieves high speed with lower resource demands and is flexible for easy deployment and compatibility with existing models like Falcon-40B, Llama2 family, ProSparse Llama2 family, and Bamboo-7B.

TestSpark is a plugin for generating unit tests that integrates AI-based test generation tools. It supports LLM-based test generation using OpenAI, HuggingFace, and JetBrains internal AI Assistant platform, as well as local search-based test generation using EvoSuite. Users can configure test generation settings, interact with test cases, view coverage statistics, and integrate tests into projects. The plugin is designed for experimental use to augment existing test suites, not replace manual test writing.

RAGLAB is a modular, research-oriented open-source framework for Retrieval-Augmented Generation (RAG) algorithms. It offers reproductions of 6 existing RAG algorithms and a comprehensive evaluation system with 10 benchmark datasets, enabling fair comparisons between RAG algorithms and easy expansion for efficient development of new algorithms, datasets, and evaluation metrics. The framework supports the entire RAG pipeline, provides advanced algorithm implementations, fair comparison platform, efficient retriever client, versatile generator support, and flexible instruction lab. It also includes features like Interact Mode for quick understanding of algorithms and Evaluation Mode for reproducing paper results and scientific research.

The Fire-Flyer File System (3FS) is a high-performance distributed file system designed for AI training and inference workloads. It leverages modern SSDs and RDMA networks to provide a shared storage layer that simplifies development of distributed applications. Key features include performance, disaggregated architecture, strong consistency, file interfaces, data preparation, dataloaders, checkpointing, and KVCache for inference. The system is well-documented with design notes, setup guide, USRBIO API reference, and P specifications. Performance metrics include peak throughput, GraySort benchmark results, and KVCache optimization. The source code is available on GitHub for cloning and installation of dependencies. Users can build 3FS and run test clusters following the provided instructions. Issues can be reported on the GitHub repository.

Atom is an accurate low-bit weight-activation quantization algorithm that combines mixed-precision, fine-grained group quantization, dynamic activation quantization, KV-cache quantization, and efficient CUDA kernels co-design. It introduces a low-bit quantization method, Atom, to maximize Large Language Models (LLMs) serving throughput with negligible accuracy loss. The codebase includes evaluation of perplexity and zero-shot accuracy, kernel benchmarking, and end-to-end evaluation. Atom significantly boosts serving throughput by using low-bit operators and reduces memory consumption via low-bit quantization.

CRAB is a framework for building LLM agent benchmark environments in a Python-centric way. It is cross-platform and multi-environment, allowing the creation of agent environments supporting various deployment options. The framework offers easy-to-use configuration with the ability to add new actions and define environments seamlessly. CRAB also provides a novel benchmarking suite with tasks and evaluators defined in Python, along with a unique graph evaluator method for detailed metrics.

DuoAttention is a framework designed to optimize long-context large language models (LLMs) by reducing memory and latency during inference without compromising their long-context abilities. It introduces a concept of Retrieval Heads and Streaming Heads to efficiently manage attention across tokens. By applying a full Key and Value (KV) cache to retrieval heads and a lightweight, constant-length KV cache to streaming heads, DuoAttention achieves significant reductions in memory usage and decoding time for LLMs. The framework uses an optimization-based algorithm with synthetic data to accurately identify retrieval heads, enabling efficient inference with minimal accuracy loss compared to full attention. DuoAttention also supports quantization techniques for further memory optimization, allowing for decoding of up to 3.3 million tokens on a single GPU.

CuMo is a project focused on scaling multimodal Large Language Models (LLMs) with Co-Upcycled Mixture-of-Experts. It introduces CuMo, which incorporates Co-upcycled Top-K sparsely-gated Mixture-of-experts blocks into the vision encoder and the MLP connector, enhancing the capabilities of multimodal LLMs. The project adopts a three-stage training approach with auxiliary losses to stabilize the training process and maintain a balanced loading of experts. CuMo achieves comparable performance to other state-of-the-art multimodal LLMs on various Visual Question Answering (VQA) and visual-instruction-following benchmarks.

AXONE Smart Contracts repository hosts Smart Contracts for the AXONE network, compatible with any Cosmos blockchains using the CosmWasm framework. It includes storage, sovereignty, and resource management oriented Smart Contracts. Each contract has different functionalities and maturity stages, with detailed tech documentation and emojis indicating maturity levels. The repository provides tools for building, testing, deploying, and interacting with Smart Contracts, along with guidelines for contributing and community engagement.

EmbodiedScan is a holistic multi-modal 3D perception suite designed for embodied AI. It introduces a multi-modal, ego-centric 3D perception dataset and benchmark for holistic 3D scene understanding. The dataset includes over 5k scans with 1M ego-centric RGB-D views, 1M language prompts, 160k 3D-oriented boxes spanning 760 categories, and dense semantic occupancy with 80 common categories. The suite includes a baseline framework named Embodied Perceptron, capable of processing multi-modal inputs for 3D perception tasks and language-grounded tasks.

AdalFlow is a library designed to help developers build and optimize Large Language Model (LLM) task pipelines. It follows a design pattern similar to PyTorch, offering a light, modular, and robust codebase. Named in honor of Ada Lovelace, AdalFlow aims to inspire more women to enter the AI field. The library is tailored for various GenAI applications like chatbots, translation, summarization, code generation, and autonomous agents, as well as classical NLP tasks such as text classification and named entity recognition. AdalFlow emphasizes modularity, robustness, and readability to support users in customizing and iterating code for their specific use cases.

HAMi is a Heterogeneous AI Computing Virtualization Middleware designed to manage Heterogeneous AI Computing Devices in a Kubernetes cluster. It allows for device sharing, device memory control, device type specification, and device UUID specification. The tool is easy to use and does not require modifying task YAML files. It includes features like hard limits on device memory, partial device allocation, streaming multiprocessor limits, and core usage specification. HAMi consists of components like a mutating webhook, scheduler extender, device plugins, and in-container virtualization techniques. It is suitable for scenarios requiring device sharing, specific device memory allocation, GPU balancing, low utilization optimization, and scenarios needing multiple small GPUs. The tool requires prerequisites like NVIDIA drivers, CUDA version, nvidia-docker, Kubernetes version, glibc version, and helm. Users can install, upgrade, and uninstall HAMi, submit tasks, and monitor cluster information. The tool's roadmap includes supporting additional AI computing devices, video codec processing, and Multi-Instance GPUs (MIG).

QANTA is a system and dataset for question answering tasks. It provides a script to download datasets, preprocesses questions, and matches them with Wikipedia pages. The system includes various datasets, training, dev, and test data in JSON and SQLite formats. Dependencies include Python 3.6, `click`, and NLTK models. Elastic Search 5.6 is needed for the Guesser component. Configuration is managed through environment variables and YAML files. QANTA supports multiple guesser implementations that can be enabled/disabled. Running QANTA involves using `cli.py` and Luigi pipelines. The system accesses raw Wikipedia dumps for data processing. The QANTA ID numbering scheme categorizes datasets based on events and competitions.

AI-TOD is a dataset for tiny object detection in aerial images, containing 700,621 object instances across 28,036 images. Objects in AI-TOD are smaller with a mean size of 12.8 pixels compared to other aerial image datasets. To use AI-TOD, download xView training set and AI-TOD_wo_xview, then generate the complete dataset using the provided synthesis tool. The dataset is publicly available for academic and research purposes under CC BY-NC-SA 4.0 license.

The HuggingFace Model Downloader is a utility tool for downloading models and datasets from the HuggingFace website. It offers multithreaded downloading for LFS files and ensures the integrity of downloaded models with SHA256 checksum verification. The tool provides features such as nested file downloading, filter downloads for specific LFS model files, support for HuggingFace Access Token, and configuration file support. It can be used as a library or a single binary for easy model downloading and inference in projects.

Towards Generalizable Vision-Language Robotic Manipulation: A Benchmark and LLM-guided 3D Policy is a research project focusing on addressing the challenge of generalizing language-conditioned robotic policies to new tasks. The project introduces GemBench, a benchmark to evaluate the generalization capabilities of vision-language robotic manipulation policies. It also presents the 3D-LOTUS approach, which leverages rich 3D information for action prediction conditioned on language. Additionally, the project introduces 3D-LOTUS++, a framework that integrates 3D-LOTUS's motion planning capabilities with the task planning capabilities of LLMs and the object grounding accuracy of VLMs to achieve state-of-the-art performance on novel tasks in robotic manipulation.

LeRobot is a state-of-the-art AI library for real-world robotics in PyTorch. It aims to provide models, datasets, and tools to lower the barrier to entry to robotics, focusing on imitation learning and reinforcement learning. LeRobot offers pretrained models, datasets with human-collected demonstrations, and simulation environments. It plans to support real-world robotics on affordable and capable robots. The library hosts pretrained models and datasets on the Hugging Face community page.

Spandrel is a library for loading and running pre-trained PyTorch models. It automatically detects the model architecture and hyperparameters from model files, and provides a unified interface for running models.

Open-DocLLM is an open-source project that addresses data extraction and processing challenges using OCR and LLM technologies. It consists of two main layers: OCR for reading document content and LLM for extracting specific content in a structured manner. The project offers a larger context window size compared to JP Morgan's DocLLM and integrates tools like Tesseract OCR and Mistral for efficient data analysis. Users can run the models on-premises using LLM studio or Ollama, and the project includes a FastAPI app for testing purposes.

Pipeline is a Python library designed for constructing computational flows for AI/ML models. It supports both development and production environments, offering capabilities for inference, training, and finetuning. The library serves as an interface to Mystic, enabling the execution of pipelines at scale and on enterprise GPUs. Users can also utilize this SDK with Pipeline Core on a private hosted cluster. The syntax for defining AI/ML pipelines is reminiscent of sessions in Tensorflow v1 and Flows in Prefect.

Autonomous agents are designed to achieve specific objectives through self-guided instructions. With the emergence and growth of large language models (LLMs), there is a growing trend in utilizing LLMs as fundamental controllers for these autonomous agents. This repository conducts a comprehensive survey study on the construction, application, and evaluation of LLM-based autonomous agents. It explores essential components of AI agents, application domains in natural sciences, social sciences, and engineering, and evaluation strategies. The survey aims to be a resource for researchers and practitioners in this rapidly evolving field.

AI Product Home is a repository dedicated to collecting various AI commercial or open-source products. It provides assistance in submitting issues, self-recommendation, correcting resources, and more. The repository also features AI tools like Build Naidia, Autopod, Rytr, Mubert, and a virtual town driven by AI. It includes sections for AI models, chat dialogues, AI assistants, code assistance, artistic creation, content creation, and more. The repository covers a wide range of AI-related tools and resources for users interested in AI products and services.

AI-Catalog is a curated list of AI tools, platforms, and resources across various domains. It serves as a comprehensive repository for users to discover and explore a wide range of AI applications. The catalog includes tools for tasks such as text-to-image generation, summarization, prompt generation, writing assistance, code assistance, developer tools, low code/no code tools, audio editing, video generation, 3D modeling, search engines, chatbots, email assistants, fun tools, gaming, music generation, presentation tools, website builders, education assistants, autonomous AI agents, photo editing, AI extensions, deep face/deep fake detection, text-to-speech, startup tools, SQL-related AI tools, education tools, and text-to-video conversion.

A curated list of open source repositories for AI Engineers. The repository provides a comprehensive collection of tools and frameworks for various AI-related tasks such as AI Gateway, AI Workload Manager, Copilot Development, Dataset Engineering, Evaluation, Fine Tuning, Function Calling, Graph RAG, Guardrails, Local Model Inference, LLM Agent Framework, Model Serving, Observability, Pre Training, Prompt Engineering, RAG Framework, Security, Structured Extraction, Structured Generation, Vector DB, and Voice Agent.

The AI Bootcamp is a comprehensive training program focusing on real-world applications to equip individuals with the skills and knowledge needed to excel as AI engineers. The bootcamp covers topics such as Real-World PyTorch, Machine Learning Projects, Fine-tuning Tiny LLM, Deployment of LLM to Production, AI Agents with GPT-4 Turbo, CrewAI, Llama 3, and more. Participants will learn foundational skills in Python for AI, ML Pipelines, Large Language Models (LLMs), AI Agents, and work on projects like RagBase for private document chat.

EasyAi is a lightweight, beginner-friendly Java artificial intelligence algorithm framework. It can be seamlessly integrated into Java projects with Maven, requiring no additional environment configuration or dependencies. The framework provides pre-packaged modules for image object detection and AI customer service, as well as various low-level algorithm tools for deep learning, machine learning, reinforcement learning, heuristic learning, and matrix operations. Developers can easily develop custom micro-models tailored to their business needs.

Awesome AI Newsletters is a curated list of AI-related newsletters that provide the latest news, trends, tools, and insights in the field of Artificial Intelligence. It includes a variety of newsletters covering general AI news, prompts for marketing and productivity, AI job opportunities, and newsletters tailored for professionals in the AI industry. Whether you are a beginner looking to stay updated on AI advancements or a professional seeking to enhance your knowledge and skills, this repository offers a collection of valuable resources to help you navigate the world of AI.

Reflection-Tuning is a project focused on improving the quality of instruction-tuning data through a reflection-based method. It introduces Selective Reflection-Tuning, where the student model can decide whether to accept the improvements made by the teacher model. The project aims to generate high-quality instruction-response pairs by defining specific criteria for the oracle model to follow and respond to. It also evaluates the efficacy and relevance of instruction-response pairs using the r-IFD metric. The project provides code for reflection and selection processes, along with data and model weights for both V1 and V2 methods.